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fix shadowmap crash on some Intel GPUs, see https://github.com/bulletphysics/bullet3/issues/4

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remove targetdir from all libraries in premake, so it is much easier to create a separate folder for all binary+lib
transmit the serialized btMultiBody data back from server to client, after the server loads a URDF file. This includes base+link+joint names
tweak the serialization routines, so it is easier to skip pointers and to serialize directly to a shared memory buffer
also tweak the serialization code to allow to process data without 'DNA' schema data (assuming file-DNA = memory DNA)
This commit is contained in:
erwincoumans
2015-07-10 22:20:06 -07:00
parent f6f76901fd
commit 6c9ce344ea
35 changed files with 340 additions and 120 deletions
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2
Extras/ConvexDecomposition/premake4.lua
View File

@@ -1,7 +1,7 @@
project "ConvexDecomposition"
kind "StaticLib"
targetdir "../../lib"
includedirs {".","../../src"}
files {
"**.cpp",

2
Extras/HACD/premake4.lua
View File

@@ -1,7 +1,7 @@
project "HACD"
kind "StaticLib"
targetdir "../../lib"
includedirs {"."}
files {
"**.cpp",

35
Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
View File

@@ -600,23 +600,6 @@ typedef struct bInvalidHandle {
};
// -------------------------------------------------- //
class btDynamicsWorldDoubleData
{
public:
btContactSolverInfoDoubleData m_solverInfo;
btVector3DoubleData m_gravity;
};
// -------------------------------------------------- //
class btDynamicsWorldFloatData
{
public:
btContactSolverInfoFloatData m_solverInfo;
btVector3FloatData m_gravity;
};
// -------------------------------------------------- //
class btRigidBodyFloatData
@@ -1135,6 +1118,24 @@ typedef struct bInvalidHandle {
char m_padding[4];
};
// -------------------------------------------------- //
class btDynamicsWorldDoubleData
{
public:
btContactSolverInfoDoubleData m_solverInfo;
btVector3DoubleData m_gravity;
};
// -------------------------------------------------- //
class btDynamicsWorldFloatData
{
public:
btContactSolverInfoFloatData m_solverInfo;
btVector3FloatData m_gravity;
};
// -------------------------------------------------- //
class SoftBodyMaterialData

148
Extras/Serialize/BulletFileLoader/bFile.cpp
View File

@@ -187,87 +187,105 @@ bool bFile::ok()
return (mFlags &FD_OK)!=0;
}
void bFile::setFileDNA(int verboseMode, char* dnaBuffer, int dnaLen)
{
mFileDNA = new bDNA();
///mFileDNA->init will convert part of DNA file endianness to current CPU endianness if necessary
mFileDNA->init((char*)dnaBuffer, dnaLen, (mFlags & FD_ENDIAN_SWAP)!=0);
if (verboseMode & FD_VERBOSE_DUMP_DNA_TYPE_DEFINITIONS)
mFileDNA->dumpTypeDefinitions();
}
// ----------------------------------------------------- //
void bFile::parseInternal(int verboseMode, char* memDna,int memDnaLength)
{
if ( (mFlags &FD_OK) ==0)
return;
char *blenderData = mFileBuffer;
bChunkInd dna;
dna.oldPtr = 0;
char *tempBuffer = blenderData;
for (int i=0; i<mFileLen; i++)
if (mFlags & FD_FILEDNA_IS_MEMDNA)
{
// looking for the data's starting position
// and the start of SDNA decls
setFileDNA(verboseMode,memDna,memDnaLength);
}
if (!mDataStart && strncmp(tempBuffer, "REND", 4)==0)
mDataStart = i;
if (mFileDNA==0)
{
char *blenderData = mFileBuffer;
bChunkInd dna;
dna.oldPtr = 0;
if (strncmp(tempBuffer, "DNA1", 4)==0)
char *tempBuffer = blenderData;
for (int i=0; i<mFileLen; i++)
{
// read the DNA1 block and extract SDNA
if (getNextBlock(&dna, tempBuffer, mFlags) > 0)
// looking for the data's starting position
// and the start of SDNA decls
if (!mDataStart && strncmp(tempBuffer, "REND", 4)==0)
mDataStart = i;
if (strncmp(tempBuffer, "DNA1", 4)==0)
{
if (strncmp((tempBuffer + ChunkUtils::getOffset(mFlags)), "SDNANAME", 8) ==0)
dna.oldPtr = (tempBuffer + ChunkUtils::getOffset(mFlags));
// read the DNA1 block and extract SDNA
if (getNextBlock(&dna, tempBuffer, mFlags) > 0)
{
if (strncmp((tempBuffer + ChunkUtils::getOffset(mFlags)), "SDNANAME", 8) ==0)
dna.oldPtr = (tempBuffer + ChunkUtils::getOffset(mFlags));
else dna.oldPtr = 0;
}
else dna.oldPtr = 0;
}
else dna.oldPtr = 0;
}
// Some Bullet files are missing the DNA1 block
// In Blender it's DNA1 + ChunkUtils::getOffset() + SDNA + NAME
// In Bullet tests its SDNA + NAME
else if (strncmp(tempBuffer, "SDNANAME", 8) ==0)
{
dna.oldPtr = blenderData + i;
dna.len = mFileLen-i;
// Also no REND block, so exit now.
if (mVersion==276) break;
}
if (mDataStart && dna.oldPtr) break;
tempBuffer++;
}
if (!dna.oldPtr || !dna.len)
{
//printf("Failed to find DNA1+SDNA pair\n");
mFlags &= ~FD_OK;
return;
}
mFileDNA = new bDNA();
///mFileDNA->init will convert part of DNA file endianness to current CPU endianness if necessary
mFileDNA->init((char*)dna.oldPtr, dna.len, (mFlags & FD_ENDIAN_SWAP)!=0);
if (mVersion==276)
{
int i;
for (i=0;i<mFileDNA->getNumNames();i++)
{
if (strcmp(mFileDNA->getName(i),"int")==0)
}
// Some Bullet files are missing the DNA1 block
// In Blender it's DNA1 + ChunkUtils::getOffset() + SDNA + NAME
// In Bullet tests its SDNA + NAME
else if (strncmp(tempBuffer, "SDNANAME", 8) ==0)
{
mFlags |= FD_BROKEN_DNA;
dna.oldPtr = blenderData + i;
dna.len = mFileLen-i;
// Also no REND block, so exit now.
if (mVersion==276) break;
}
if (mDataStart && dna.oldPtr) break;
tempBuffer++;
}
if (!dna.oldPtr || !dna.len)
{
//printf("Failed to find DNA1+SDNA pair\n");
mFlags &= ~FD_OK;
return;
}
mFileDNA = new bDNA();
///mFileDNA->init will convert part of DNA file endianness to current CPU endianness if necessary
mFileDNA->init((char*)dna.oldPtr, dna.len, (mFlags & FD_ENDIAN_SWAP)!=0);
if (mVersion==276)
{
int i;
for (i=0;i<mFileDNA->getNumNames();i++)
{
if (strcmp(mFileDNA->getName(i),"int")==0)
{
mFlags |= FD_BROKEN_DNA;
}
}
if ((mFlags&FD_BROKEN_DNA)!=0)
{
//printf("warning: fixing some broken DNA version\n");
}
}
if ((mFlags&FD_BROKEN_DNA)!=0)
{
//printf("warning: fixing some broken DNA version\n");
}
if (verboseMode & FD_VERBOSE_DUMP_DNA_TYPE_DEFINITIONS)
mFileDNA->dumpTypeDefinitions();
}
if (verboseMode & FD_VERBOSE_DUMP_DNA_TYPE_DEFINITIONS)
mFileDNA->dumpTypeDefinitions();
mMemoryDNA = new bDNA();
int littleEndian= 1;
littleEndian= ((char*)&littleEndian)[0];

14
Extras/Serialize/BulletFileLoader/bFile.h
View File

@@ -33,7 +33,8 @@ namespace bParse {
FD_BITS_VARIES =16,
FD_VERSION_VARIES = 32,
FD_DOUBLE_PRECISION =64,
FD_BROKEN_DNA = 128
FD_BROKEN_DNA = 128,
FD_FILEDNA_IS_MEMDNA = 256
};
enum bFileVerboseMode
@@ -106,7 +107,7 @@ namespace bParse {
char* readStruct(char *head, class bChunkInd& chunk);
char *getAsString(int code);
void parseInternal(int verboseMode, char* memDna,int memDnaLength);
virtual void parseInternal(int verboseMode, char* memDna,int memDnaLength);
public:
bFile(const char *filename, const char headerString[7]);
@@ -128,6 +129,11 @@ namespace bParse {
return mFlags;
}
void setFileDNAisMemoryDNA()
{
mFlags |= FD_FILEDNA_IS_MEMDNA;
}
bPtrMap& getLibPointers()
{
return mLibPointers;
@@ -150,6 +156,8 @@ namespace bParse {
void dumpChunks(bDNA* dna);
virtual void setFileDNA(int verboseMode, char* buffer, int len);
int getVersion() const
{
return mVersion;
@@ -158,6 +166,8 @@ namespace bParse {
void preSwap();
void writeFile(const char* fileName);
};
}

15
Extras/Serialize/BulletFileLoader/btBulletFile.cpp
View File

@@ -123,7 +123,11 @@ void btBulletFile::parseData()
//const bool swap = (mFlags&FD_ENDIAN_SWAP)!=0;
int remain = mFileLen;
mDataStart = 12;
remain-=12;
char *dataPtr = mFileBuffer+mDataStart;
@@ -169,6 +173,11 @@ void btBulletFile::parseData()
// listID->push_back((bStructHandle*)id);
}
if (dataChunk.code == BT_MULTIBODY_CODE)
{
m_multiBodies.push_back((bStructHandle*)id);
}
if (dataChunk.code == BT_SOFTBODY_CODE)
{
m_softBodies.push_back((bStructHandle*) id);
@@ -226,6 +235,9 @@ void btBulletFile::parseData()
dataPtr += seek;
remain-=seek;
if (remain<=0)
break;
seek = getNextBlock(&dataChunk, dataPtr, mFlags);
if (mFlags &FD_ENDIAN_SWAP)
@@ -420,4 +432,5 @@ void btBulletFile::addStruct(const char* structType,void* data, int len, void* o
mLibPointers.insert(dataChunk.oldPtr, (bStructHandle*)data);
m_chunks.push_back(dataChunk);
}
}

5
Extras/Serialize/BulletFileLoader/btBulletFile.h
View File

@@ -21,6 +21,7 @@ subject to the following restrictions:
#include "LinearMath/btAlignedObjectArray.h"
#include "bDefines.h"
#include "LinearMath/btSerializer.h"
@@ -38,6 +39,8 @@ namespace bParse {
public:
btAlignedObjectArray<bStructHandle*> m_multiBodies;
btAlignedObjectArray<bStructHandle*> m_softBodies;
btAlignedObjectArray<bStructHandle*> m_rigidBodies;
@@ -65,7 +68,7 @@ namespace bParse {
virtual void addDataBlock(char* dataBlock);
// experimental
virtual int write(const char* fileName, bool fixupPointers=false);

2
Extras/Serialize/BulletFileLoader/premake4.lua
View File

@@ -1,7 +1,7 @@
project "BulletFileLoader"
kind "StaticLib"
targetdir "../../lib"
includedirs {
"../../../src"
}

2
Extras/Serialize/BulletWorldImporter/premake4.lua
View File

@@ -1,7 +1,7 @@
project "BulletWorldImporter"
kind "StaticLib"
targetdir "../../lib"
includedirs {
"../BulletFileLoader",
"../../../src"

3
Extras/Serialize/makesdna/makesdna.cpp
View File

@@ -188,6 +188,7 @@ char *includefiles[] = {
"../../../src/BulletCollision/Gimpact/btGImpactShape.h",
"../../../src/BulletCollision/CollisionShapes/btConvexHullShape.h",
"../../../src/BulletCollision/CollisionDispatch/btCollisionObject.h",
"../../../src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h",
"../../../src/BulletDynamics/Dynamics/btDynamicsWorld.h",
"../../../src/BulletDynamics/Dynamics/btRigidBody.h",
"../../../src/BulletDynamics/ConstraintSolver/btTypedConstraint.h",
@@ -199,7 +200,7 @@ char *includefiles[] = {
"../../../src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h",
"../../../src/BulletDynamics/ConstraintSolver/btSliderConstraint.h",
"../../../src/BulletDynamics/ConstraintSolver/btGearConstraint.h",
"../../../src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h",
"../../../src/BulletSoftBody/btSoftBodyData.h",
"../../../src/BulletDynamics/Featherstone/btMultiBody.h",
// empty string to indicate end of includefiles